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<h1 id="sec_name">
<span data-if="hdevelop" style="display:inline;">match_essential_matrix_ransac</span><span data-if="c" style="display:none;">T_match_essential_matrix_ransac</span><span data-if="cpp" style="display:none;">MatchEssentialMatrixRansac</span><span data-if="dotnet" style="display:none;">MatchEssentialMatrixRansac</span><span data-if="python" style="display:none;">match_essential_matrix_ransac</span> (算子名称)</h1>
<h2>名称</h2>
<p><code><span data-if="hdevelop" style="display:inline;">match_essential_matrix_ransac</span><span data-if="c" style="display:none;">T_match_essential_matrix_ransac</span><span data-if="cpp" style="display:none;">MatchEssentialMatrixRansac</span><span data-if="dotnet" style="display:none;">MatchEssentialMatrixRansac</span><span data-if="python" style="display:none;">match_essential_matrix_ransac</span></code> — Compute the essential matrix for a pair of stereo images by automatically
finding correspondences between image points.</p>
<h2 id="sec_synopsis">参数签名</h2>
<div data-if="hdevelop" style="display:inline;">
<p>
<code><b>match_essential_matrix_ransac</b>(<a href="#Image1"><i>Image1</i></a>, <a href="#Image2"><i>Image2</i></a> :  : <a href="#Rows1"><i>Rows1</i></a>, <a href="#Cols1"><i>Cols1</i></a>, <a href="#Rows2"><i>Rows2</i></a>, <a href="#Cols2"><i>Cols2</i></a>, <a href="#CamMat1"><i>CamMat1</i></a>, <a href="#CamMat2"><i>CamMat2</i></a>, <a href="#GrayMatchMethod"><i>GrayMatchMethod</i></a>, <a href="#MaskSize"><i>MaskSize</i></a>, <a href="#RowMove"><i>RowMove</i></a>, <a href="#ColMove"><i>ColMove</i></a>, <a href="#RowTolerance"><i>RowTolerance</i></a>, <a href="#ColTolerance"><i>ColTolerance</i></a>, <a href="#Rotation"><i>Rotation</i></a>, <a href="#MatchThreshold"><i>MatchThreshold</i></a>, <a href="#EstimationMethod"><i>EstimationMethod</i></a>, <a href="#DistanceThreshold"><i>DistanceThreshold</i></a>, <a href="#RandSeed"><i>RandSeed</i></a> : <a href="#EMatrix"><i>EMatrix</i></a>, <a href="#CovEMat"><i>CovEMat</i></a>, <a href="#Error"><i>Error</i></a>, <a href="#Points1"><i>Points1</i></a>, <a href="#Points2"><i>Points2</i></a>)</code></p>
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<div data-if="c" style="display:none;">
<p>
<code>Herror <b>T_match_essential_matrix_ransac</b>(const Hobject <a href="#Image1"><i>Image1</i></a>, const Hobject <a href="#Image2"><i>Image2</i></a>, const Htuple <a href="#Rows1"><i>Rows1</i></a>, const Htuple <a href="#Cols1"><i>Cols1</i></a>, const Htuple <a href="#Rows2"><i>Rows2</i></a>, const Htuple <a href="#Cols2"><i>Cols2</i></a>, const Htuple <a href="#CamMat1"><i>CamMat1</i></a>, const Htuple <a href="#CamMat2"><i>CamMat2</i></a>, const Htuple <a href="#GrayMatchMethod"><i>GrayMatchMethod</i></a>, const Htuple <a href="#MaskSize"><i>MaskSize</i></a>, const Htuple <a href="#RowMove"><i>RowMove</i></a>, const Htuple <a href="#ColMove"><i>ColMove</i></a>, const Htuple <a href="#RowTolerance"><i>RowTolerance</i></a>, const Htuple <a href="#ColTolerance"><i>ColTolerance</i></a>, const Htuple <a href="#Rotation"><i>Rotation</i></a>, const Htuple <a href="#MatchThreshold"><i>MatchThreshold</i></a>, const Htuple <a href="#EstimationMethod"><i>EstimationMethod</i></a>, const Htuple <a href="#DistanceThreshold"><i>DistanceThreshold</i></a>, const Htuple <a href="#RandSeed"><i>RandSeed</i></a>, Htuple* <a href="#EMatrix"><i>EMatrix</i></a>, Htuple* <a href="#CovEMat"><i>CovEMat</i></a>, Htuple* <a href="#Error"><i>Error</i></a>, Htuple* <a href="#Points1"><i>Points1</i></a>, Htuple* <a href="#Points2"><i>Points2</i></a>)</code></p>
</div>
<div data-if="cpp" style="display:none;">
<p>
<code>void <b>MatchEssentialMatrixRansac</b>(const HObject&amp; <a href="#Image1"><i>Image1</i></a>, const HObject&amp; <a href="#Image2"><i>Image2</i></a>, const HTuple&amp; <a href="#Rows1"><i>Rows1</i></a>, const HTuple&amp; <a href="#Cols1"><i>Cols1</i></a>, const HTuple&amp; <a href="#Rows2"><i>Rows2</i></a>, const HTuple&amp; <a href="#Cols2"><i>Cols2</i></a>, const HTuple&amp; <a href="#CamMat1"><i>CamMat1</i></a>, const HTuple&amp; <a href="#CamMat2"><i>CamMat2</i></a>, const HTuple&amp; <a href="#GrayMatchMethod"><i>GrayMatchMethod</i></a>, const HTuple&amp; <a href="#MaskSize"><i>MaskSize</i></a>, const HTuple&amp; <a href="#RowMove"><i>RowMove</i></a>, const HTuple&amp; <a href="#ColMove"><i>ColMove</i></a>, const HTuple&amp; <a href="#RowTolerance"><i>RowTolerance</i></a>, const HTuple&amp; <a href="#ColTolerance"><i>ColTolerance</i></a>, const HTuple&amp; <a href="#Rotation"><i>Rotation</i></a>, const HTuple&amp; <a href="#MatchThreshold"><i>MatchThreshold</i></a>, const HTuple&amp; <a href="#EstimationMethod"><i>EstimationMethod</i></a>, const HTuple&amp; <a href="#DistanceThreshold"><i>DistanceThreshold</i></a>, const HTuple&amp; <a href="#RandSeed"><i>RandSeed</i></a>, HTuple* <a href="#EMatrix"><i>EMatrix</i></a>, HTuple* <a href="#CovEMat"><i>CovEMat</i></a>, HTuple* <a href="#Error"><i>Error</i></a>, HTuple* <a href="#Points1"><i>Points1</i></a>, HTuple* <a href="#Points2"><i>Points2</i></a>)</code></p>
<p>
<code><a href="HHomMat2D.html">HHomMat2D</a> <a href="HImage.html">HImage</a>::<b>MatchEssentialMatrixRansac</b>(const HImage&amp; <a href="#Image2"><i>Image2</i></a>, const HTuple&amp; <a href="#Rows1"><i>Rows1</i></a>, const HTuple&amp; <a href="#Cols1"><i>Cols1</i></a>, const HTuple&amp; <a href="#Rows2"><i>Rows2</i></a>, const HTuple&amp; <a href="#Cols2"><i>Cols2</i></a>, const HHomMat2D&amp; <a href="#CamMat1"><i>CamMat1</i></a>, const HHomMat2D&amp; <a href="#CamMat2"><i>CamMat2</i></a>, const HString&amp; <a href="#GrayMatchMethod"><i>GrayMatchMethod</i></a>, Hlong <a href="#MaskSize"><i>MaskSize</i></a>, Hlong <a href="#RowMove"><i>RowMove</i></a>, Hlong <a href="#ColMove"><i>ColMove</i></a>, Hlong <a href="#RowTolerance"><i>RowTolerance</i></a>, Hlong <a href="#ColTolerance"><i>ColTolerance</i></a>, const HTuple&amp; <a href="#Rotation"><i>Rotation</i></a>, const HTuple&amp; <a href="#MatchThreshold"><i>MatchThreshold</i></a>, const HString&amp; <a href="#EstimationMethod"><i>EstimationMethod</i></a>, const HTuple&amp; <a href="#DistanceThreshold"><i>DistanceThreshold</i></a>, Hlong <a href="#RandSeed"><i>RandSeed</i></a>, HTuple* <a href="#CovEMat"><i>CovEMat</i></a>, HTuple* <a href="#Error"><i>Error</i></a>, HTuple* <a href="#Points1"><i>Points1</i></a>, HTuple* <a href="#Points2"><i>Points2</i></a>) const</code></p>
<p>
<code><a href="HHomMat2D.html">HHomMat2D</a> <a href="HImage.html">HImage</a>::<b>MatchEssentialMatrixRansac</b>(const HImage&amp; <a href="#Image2"><i>Image2</i></a>, const HTuple&amp; <a href="#Rows1"><i>Rows1</i></a>, const HTuple&amp; <a href="#Cols1"><i>Cols1</i></a>, const HTuple&amp; <a href="#Rows2"><i>Rows2</i></a>, const HTuple&amp; <a href="#Cols2"><i>Cols2</i></a>, const HHomMat2D&amp; <a href="#CamMat1"><i>CamMat1</i></a>, const HHomMat2D&amp; <a href="#CamMat2"><i>CamMat2</i></a>, const HString&amp; <a href="#GrayMatchMethod"><i>GrayMatchMethod</i></a>, Hlong <a href="#MaskSize"><i>MaskSize</i></a>, Hlong <a href="#RowMove"><i>RowMove</i></a>, Hlong <a href="#ColMove"><i>ColMove</i></a>, Hlong <a href="#RowTolerance"><i>RowTolerance</i></a>, Hlong <a href="#ColTolerance"><i>ColTolerance</i></a>, double <a href="#Rotation"><i>Rotation</i></a>, Hlong <a href="#MatchThreshold"><i>MatchThreshold</i></a>, const HString&amp; <a href="#EstimationMethod"><i>EstimationMethod</i></a>, double <a href="#DistanceThreshold"><i>DistanceThreshold</i></a>, Hlong <a href="#RandSeed"><i>RandSeed</i></a>, HTuple* <a href="#CovEMat"><i>CovEMat</i></a>, double* <a href="#Error"><i>Error</i></a>, HTuple* <a href="#Points1"><i>Points1</i></a>, HTuple* <a href="#Points2"><i>Points2</i></a>) const</code></p>
<p>
<code><a href="HHomMat2D.html">HHomMat2D</a> <a href="HImage.html">HImage</a>::<b>MatchEssentialMatrixRansac</b>(const HImage&amp; <a href="#Image2"><i>Image2</i></a>, const HTuple&amp; <a href="#Rows1"><i>Rows1</i></a>, const HTuple&amp; <a href="#Cols1"><i>Cols1</i></a>, const HTuple&amp; <a href="#Rows2"><i>Rows2</i></a>, const HTuple&amp; <a href="#Cols2"><i>Cols2</i></a>, const HHomMat2D&amp; <a href="#CamMat1"><i>CamMat1</i></a>, const HHomMat2D&amp; <a href="#CamMat2"><i>CamMat2</i></a>, const char* <a href="#GrayMatchMethod"><i>GrayMatchMethod</i></a>, Hlong <a href="#MaskSize"><i>MaskSize</i></a>, Hlong <a href="#RowMove"><i>RowMove</i></a>, Hlong <a href="#ColMove"><i>ColMove</i></a>, Hlong <a href="#RowTolerance"><i>RowTolerance</i></a>, Hlong <a href="#ColTolerance"><i>ColTolerance</i></a>, double <a href="#Rotation"><i>Rotation</i></a>, Hlong <a href="#MatchThreshold"><i>MatchThreshold</i></a>, const char* <a href="#EstimationMethod"><i>EstimationMethod</i></a>, double <a href="#DistanceThreshold"><i>DistanceThreshold</i></a>, Hlong <a href="#RandSeed"><i>RandSeed</i></a>, HTuple* <a href="#CovEMat"><i>CovEMat</i></a>, double* <a href="#Error"><i>Error</i></a>, HTuple* <a href="#Points1"><i>Points1</i></a>, HTuple* <a href="#Points2"><i>Points2</i></a>) const</code></p>
<p>
<code><a href="HHomMat2D.html">HHomMat2D</a> <a href="HImage.html">HImage</a>::<b>MatchEssentialMatrixRansac</b>(const HImage&amp; <a href="#Image2"><i>Image2</i></a>, const HTuple&amp; <a href="#Rows1"><i>Rows1</i></a>, const HTuple&amp; <a href="#Cols1"><i>Cols1</i></a>, const HTuple&amp; <a href="#Rows2"><i>Rows2</i></a>, const HTuple&amp; <a href="#Cols2"><i>Cols2</i></a>, const HHomMat2D&amp; <a href="#CamMat1"><i>CamMat1</i></a>, const HHomMat2D&amp; <a href="#CamMat2"><i>CamMat2</i></a>, const wchar_t* <a href="#GrayMatchMethod"><i>GrayMatchMethod</i></a>, Hlong <a href="#MaskSize"><i>MaskSize</i></a>, Hlong <a href="#RowMove"><i>RowMove</i></a>, Hlong <a href="#ColMove"><i>ColMove</i></a>, Hlong <a href="#RowTolerance"><i>RowTolerance</i></a>, Hlong <a href="#ColTolerance"><i>ColTolerance</i></a>, double <a href="#Rotation"><i>Rotation</i></a>, Hlong <a href="#MatchThreshold"><i>MatchThreshold</i></a>, const wchar_t* <a href="#EstimationMethod"><i>EstimationMethod</i></a>, double <a href="#DistanceThreshold"><i>DistanceThreshold</i></a>, Hlong <a href="#RandSeed"><i>RandSeed</i></a>, HTuple* <a href="#CovEMat"><i>CovEMat</i></a>, double* <a href="#Error"><i>Error</i></a>, HTuple* <a href="#Points1"><i>Points1</i></a>, HTuple* <a href="#Points2"><i>Points2</i></a>) const  <span class="signnote">
            (
            Windows only)
          </span></code></p>
<p>
<code><a href="HHomMat2D.html">HHomMat2D</a> <a href="HHomMat2D.html">HHomMat2D</a>::<b>MatchEssentialMatrixRansac</b>(const HImage&amp; <a href="#Image1"><i>Image1</i></a>, const HImage&amp; <a href="#Image2"><i>Image2</i></a>, const HTuple&amp; <a href="#Rows1"><i>Rows1</i></a>, const HTuple&amp; <a href="#Cols1"><i>Cols1</i></a>, const HTuple&amp; <a href="#Rows2"><i>Rows2</i></a>, const HTuple&amp; <a href="#Cols2"><i>Cols2</i></a>, const HHomMat2D&amp; <a href="#CamMat2"><i>CamMat2</i></a>, const HString&amp; <a href="#GrayMatchMethod"><i>GrayMatchMethod</i></a>, Hlong <a href="#MaskSize"><i>MaskSize</i></a>, Hlong <a href="#RowMove"><i>RowMove</i></a>, Hlong <a href="#ColMove"><i>ColMove</i></a>, Hlong <a href="#RowTolerance"><i>RowTolerance</i></a>, Hlong <a href="#ColTolerance"><i>ColTolerance</i></a>, const HTuple&amp; <a href="#Rotation"><i>Rotation</i></a>, const HTuple&amp; <a href="#MatchThreshold"><i>MatchThreshold</i></a>, const HString&amp; <a href="#EstimationMethod"><i>EstimationMethod</i></a>, const HTuple&amp; <a href="#DistanceThreshold"><i>DistanceThreshold</i></a>, Hlong <a href="#RandSeed"><i>RandSeed</i></a>, HTuple* <a href="#CovEMat"><i>CovEMat</i></a>, HTuple* <a href="#Error"><i>Error</i></a>, HTuple* <a href="#Points1"><i>Points1</i></a>, HTuple* <a href="#Points2"><i>Points2</i></a>) const</code></p>
<p>
<code><a href="HHomMat2D.html">HHomMat2D</a> <a href="HHomMat2D.html">HHomMat2D</a>::<b>MatchEssentialMatrixRansac</b>(const HImage&amp; <a href="#Image1"><i>Image1</i></a>, const HImage&amp; <a href="#Image2"><i>Image2</i></a>, const HTuple&amp; <a href="#Rows1"><i>Rows1</i></a>, const HTuple&amp; <a href="#Cols1"><i>Cols1</i></a>, const HTuple&amp; <a href="#Rows2"><i>Rows2</i></a>, const HTuple&amp; <a href="#Cols2"><i>Cols2</i></a>, const HHomMat2D&amp; <a href="#CamMat2"><i>CamMat2</i></a>, const HString&amp; <a href="#GrayMatchMethod"><i>GrayMatchMethod</i></a>, Hlong <a href="#MaskSize"><i>MaskSize</i></a>, Hlong <a href="#RowMove"><i>RowMove</i></a>, Hlong <a href="#ColMove"><i>ColMove</i></a>, Hlong <a href="#RowTolerance"><i>RowTolerance</i></a>, Hlong <a href="#ColTolerance"><i>ColTolerance</i></a>, double <a href="#Rotation"><i>Rotation</i></a>, Hlong <a href="#MatchThreshold"><i>MatchThreshold</i></a>, const HString&amp; <a href="#EstimationMethod"><i>EstimationMethod</i></a>, double <a href="#DistanceThreshold"><i>DistanceThreshold</i></a>, Hlong <a href="#RandSeed"><i>RandSeed</i></a>, HTuple* <a href="#CovEMat"><i>CovEMat</i></a>, double* <a href="#Error"><i>Error</i></a>, HTuple* <a href="#Points1"><i>Points1</i></a>, HTuple* <a href="#Points2"><i>Points2</i></a>) const</code></p>
<p>
<code><a href="HHomMat2D.html">HHomMat2D</a> <a href="HHomMat2D.html">HHomMat2D</a>::<b>MatchEssentialMatrixRansac</b>(const HImage&amp; <a href="#Image1"><i>Image1</i></a>, const HImage&amp; <a href="#Image2"><i>Image2</i></a>, const HTuple&amp; <a href="#Rows1"><i>Rows1</i></a>, const HTuple&amp; <a href="#Cols1"><i>Cols1</i></a>, const HTuple&amp; <a href="#Rows2"><i>Rows2</i></a>, const HTuple&amp; <a href="#Cols2"><i>Cols2</i></a>, const HHomMat2D&amp; <a href="#CamMat2"><i>CamMat2</i></a>, const char* <a href="#GrayMatchMethod"><i>GrayMatchMethod</i></a>, Hlong <a href="#MaskSize"><i>MaskSize</i></a>, Hlong <a href="#RowMove"><i>RowMove</i></a>, Hlong <a href="#ColMove"><i>ColMove</i></a>, Hlong <a href="#RowTolerance"><i>RowTolerance</i></a>, Hlong <a href="#ColTolerance"><i>ColTolerance</i></a>, double <a href="#Rotation"><i>Rotation</i></a>, Hlong <a href="#MatchThreshold"><i>MatchThreshold</i></a>, const char* <a href="#EstimationMethod"><i>EstimationMethod</i></a>, double <a href="#DistanceThreshold"><i>DistanceThreshold</i></a>, Hlong <a href="#RandSeed"><i>RandSeed</i></a>, HTuple* <a href="#CovEMat"><i>CovEMat</i></a>, double* <a href="#Error"><i>Error</i></a>, HTuple* <a href="#Points1"><i>Points1</i></a>, HTuple* <a href="#Points2"><i>Points2</i></a>) const</code></p>
<p>
<code><a href="HHomMat2D.html">HHomMat2D</a> <a href="HHomMat2D.html">HHomMat2D</a>::<b>MatchEssentialMatrixRansac</b>(const HImage&amp; <a href="#Image1"><i>Image1</i></a>, const HImage&amp; <a href="#Image2"><i>Image2</i></a>, const HTuple&amp; <a href="#Rows1"><i>Rows1</i></a>, const HTuple&amp; <a href="#Cols1"><i>Cols1</i></a>, const HTuple&amp; <a href="#Rows2"><i>Rows2</i></a>, const HTuple&amp; <a href="#Cols2"><i>Cols2</i></a>, const HHomMat2D&amp; <a href="#CamMat2"><i>CamMat2</i></a>, const wchar_t* <a href="#GrayMatchMethod"><i>GrayMatchMethod</i></a>, Hlong <a href="#MaskSize"><i>MaskSize</i></a>, Hlong <a href="#RowMove"><i>RowMove</i></a>, Hlong <a href="#ColMove"><i>ColMove</i></a>, Hlong <a href="#RowTolerance"><i>RowTolerance</i></a>, Hlong <a href="#ColTolerance"><i>ColTolerance</i></a>, double <a href="#Rotation"><i>Rotation</i></a>, Hlong <a href="#MatchThreshold"><i>MatchThreshold</i></a>, const wchar_t* <a href="#EstimationMethod"><i>EstimationMethod</i></a>, double <a href="#DistanceThreshold"><i>DistanceThreshold</i></a>, Hlong <a href="#RandSeed"><i>RandSeed</i></a>, HTuple* <a href="#CovEMat"><i>CovEMat</i></a>, double* <a href="#Error"><i>Error</i></a>, HTuple* <a href="#Points1"><i>Points1</i></a>, HTuple* <a href="#Points2"><i>Points2</i></a>) const  <span class="signnote">
            (
            Windows only)
          </span></code></p>
</div>
<div data-if="com" style="display:none;"></div>
<div data-if="dotnet" style="display:none;">
<p>
<code>static void <a href="HOperatorSet.html">HOperatorSet</a>.<b>MatchEssentialMatrixRansac</b>(<a href="HObject.html">HObject</a> <a href="#Image1"><i>image1</i></a>, <a href="HObject.html">HObject</a> <a href="#Image2"><i>image2</i></a>, <a href="HTuple.html">HTuple</a> <a href="#Rows1"><i>rows1</i></a>, <a href="HTuple.html">HTuple</a> <a href="#Cols1"><i>cols1</i></a>, <a href="HTuple.html">HTuple</a> <a href="#Rows2"><i>rows2</i></a>, <a href="HTuple.html">HTuple</a> <a href="#Cols2"><i>cols2</i></a>, <a href="HTuple.html">HTuple</a> <a href="#CamMat1"><i>camMat1</i></a>, <a href="HTuple.html">HTuple</a> <a href="#CamMat2"><i>camMat2</i></a>, <a href="HTuple.html">HTuple</a> <a href="#GrayMatchMethod"><i>grayMatchMethod</i></a>, <a href="HTuple.html">HTuple</a> <a href="#MaskSize"><i>maskSize</i></a>, <a href="HTuple.html">HTuple</a> <a href="#RowMove"><i>rowMove</i></a>, <a href="HTuple.html">HTuple</a> <a href="#ColMove"><i>colMove</i></a>, <a href="HTuple.html">HTuple</a> <a href="#RowTolerance"><i>rowTolerance</i></a>, <a href="HTuple.html">HTuple</a> <a href="#ColTolerance"><i>colTolerance</i></a>, <a href="HTuple.html">HTuple</a> <a href="#Rotation"><i>rotation</i></a>, <a href="HTuple.html">HTuple</a> <a href="#MatchThreshold"><i>matchThreshold</i></a>, <a href="HTuple.html">HTuple</a> <a href="#EstimationMethod"><i>estimationMethod</i></a>, <a href="HTuple.html">HTuple</a> <a href="#DistanceThreshold"><i>distanceThreshold</i></a>, <a href="HTuple.html">HTuple</a> <a href="#RandSeed"><i>randSeed</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#EMatrix"><i>EMatrix</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#CovEMat"><i>covEMat</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#Error"><i>error</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#Points1"><i>points1</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#Points2"><i>points2</i></a>)</code></p>
<p>
<code><a href="HHomMat2D.html">HHomMat2D</a> <a href="HImage.html">HImage</a>.<b>MatchEssentialMatrixRansac</b>(<a href="HImage.html">HImage</a> <a href="#Image2"><i>image2</i></a>, <a href="HTuple.html">HTuple</a> <a href="#Rows1"><i>rows1</i></a>, <a href="HTuple.html">HTuple</a> <a href="#Cols1"><i>cols1</i></a>, <a href="HTuple.html">HTuple</a> <a href="#Rows2"><i>rows2</i></a>, <a href="HTuple.html">HTuple</a> <a href="#Cols2"><i>cols2</i></a>, <a href="HHomMat2D.html">HHomMat2D</a> <a href="#CamMat1"><i>camMat1</i></a>, <a href="HHomMat2D.html">HHomMat2D</a> <a href="#CamMat2"><i>camMat2</i></a>, string <a href="#GrayMatchMethod"><i>grayMatchMethod</i></a>, int <a href="#MaskSize"><i>maskSize</i></a>, int <a href="#RowMove"><i>rowMove</i></a>, int <a href="#ColMove"><i>colMove</i></a>, int <a href="#RowTolerance"><i>rowTolerance</i></a>, int <a href="#ColTolerance"><i>colTolerance</i></a>, <a href="HTuple.html">HTuple</a> <a href="#Rotation"><i>rotation</i></a>, <a href="HTuple.html">HTuple</a> <a href="#MatchThreshold"><i>matchThreshold</i></a>, string <a href="#EstimationMethod"><i>estimationMethod</i></a>, <a href="HTuple.html">HTuple</a> <a href="#DistanceThreshold"><i>distanceThreshold</i></a>, int <a href="#RandSeed"><i>randSeed</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#CovEMat"><i>covEMat</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#Error"><i>error</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#Points1"><i>points1</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#Points2"><i>points2</i></a>)</code></p>
<p>
<code><a href="HHomMat2D.html">HHomMat2D</a> <a href="HImage.html">HImage</a>.<b>MatchEssentialMatrixRansac</b>(<a href="HImage.html">HImage</a> <a href="#Image2"><i>image2</i></a>, <a href="HTuple.html">HTuple</a> <a href="#Rows1"><i>rows1</i></a>, <a href="HTuple.html">HTuple</a> <a href="#Cols1"><i>cols1</i></a>, <a href="HTuple.html">HTuple</a> <a href="#Rows2"><i>rows2</i></a>, <a href="HTuple.html">HTuple</a> <a href="#Cols2"><i>cols2</i></a>, <a href="HHomMat2D.html">HHomMat2D</a> <a href="#CamMat1"><i>camMat1</i></a>, <a href="HHomMat2D.html">HHomMat2D</a> <a href="#CamMat2"><i>camMat2</i></a>, string <a href="#GrayMatchMethod"><i>grayMatchMethod</i></a>, int <a href="#MaskSize"><i>maskSize</i></a>, int <a href="#RowMove"><i>rowMove</i></a>, int <a href="#ColMove"><i>colMove</i></a>, int <a href="#RowTolerance"><i>rowTolerance</i></a>, int <a href="#ColTolerance"><i>colTolerance</i></a>, double <a href="#Rotation"><i>rotation</i></a>, int <a href="#MatchThreshold"><i>matchThreshold</i></a>, string <a href="#EstimationMethod"><i>estimationMethod</i></a>, double <a href="#DistanceThreshold"><i>distanceThreshold</i></a>, int <a href="#RandSeed"><i>randSeed</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#CovEMat"><i>covEMat</i></a>, out double <a href="#Error"><i>error</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#Points1"><i>points1</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#Points2"><i>points2</i></a>)</code></p>
<p>
<code><a href="HHomMat2D.html">HHomMat2D</a> <a href="HHomMat2D.html">HHomMat2D</a>.<b>MatchEssentialMatrixRansac</b>(<a href="HImage.html">HImage</a> <a href="#Image1"><i>image1</i></a>, <a href="HImage.html">HImage</a> <a href="#Image2"><i>image2</i></a>, <a href="HTuple.html">HTuple</a> <a href="#Rows1"><i>rows1</i></a>, <a href="HTuple.html">HTuple</a> <a href="#Cols1"><i>cols1</i></a>, <a href="HTuple.html">HTuple</a> <a href="#Rows2"><i>rows2</i></a>, <a href="HTuple.html">HTuple</a> <a href="#Cols2"><i>cols2</i></a>, <a href="HHomMat2D.html">HHomMat2D</a> <a href="#CamMat2"><i>camMat2</i></a>, string <a href="#GrayMatchMethod"><i>grayMatchMethod</i></a>, int <a href="#MaskSize"><i>maskSize</i></a>, int <a href="#RowMove"><i>rowMove</i></a>, int <a href="#ColMove"><i>colMove</i></a>, int <a href="#RowTolerance"><i>rowTolerance</i></a>, int <a href="#ColTolerance"><i>colTolerance</i></a>, <a href="HTuple.html">HTuple</a> <a href="#Rotation"><i>rotation</i></a>, <a href="HTuple.html">HTuple</a> <a href="#MatchThreshold"><i>matchThreshold</i></a>, string <a href="#EstimationMethod"><i>estimationMethod</i></a>, <a href="HTuple.html">HTuple</a> <a href="#DistanceThreshold"><i>distanceThreshold</i></a>, int <a href="#RandSeed"><i>randSeed</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#CovEMat"><i>covEMat</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#Error"><i>error</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#Points1"><i>points1</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#Points2"><i>points2</i></a>)</code></p>
<p>
<code><a href="HHomMat2D.html">HHomMat2D</a> <a href="HHomMat2D.html">HHomMat2D</a>.<b>MatchEssentialMatrixRansac</b>(<a href="HImage.html">HImage</a> <a href="#Image1"><i>image1</i></a>, <a href="HImage.html">HImage</a> <a href="#Image2"><i>image2</i></a>, <a href="HTuple.html">HTuple</a> <a href="#Rows1"><i>rows1</i></a>, <a href="HTuple.html">HTuple</a> <a href="#Cols1"><i>cols1</i></a>, <a href="HTuple.html">HTuple</a> <a href="#Rows2"><i>rows2</i></a>, <a href="HTuple.html">HTuple</a> <a href="#Cols2"><i>cols2</i></a>, <a href="HHomMat2D.html">HHomMat2D</a> <a href="#CamMat2"><i>camMat2</i></a>, string <a href="#GrayMatchMethod"><i>grayMatchMethod</i></a>, int <a href="#MaskSize"><i>maskSize</i></a>, int <a href="#RowMove"><i>rowMove</i></a>, int <a href="#ColMove"><i>colMove</i></a>, int <a href="#RowTolerance"><i>rowTolerance</i></a>, int <a href="#ColTolerance"><i>colTolerance</i></a>, double <a href="#Rotation"><i>rotation</i></a>, int <a href="#MatchThreshold"><i>matchThreshold</i></a>, string <a href="#EstimationMethod"><i>estimationMethod</i></a>, double <a href="#DistanceThreshold"><i>distanceThreshold</i></a>, int <a href="#RandSeed"><i>randSeed</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#CovEMat"><i>covEMat</i></a>, out double <a href="#Error"><i>error</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#Points1"><i>points1</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#Points2"><i>points2</i></a>)</code></p>
</div>
<div data-if="python" style="display:none;">
<p>
<code>def <b>match_essential_matrix_ransac</b>(<a href="#Image1"><i>image_1</i></a>: HObject, <a href="#Image2"><i>image_2</i></a>: HObject, <a href="#Rows1"><i>rows_1</i></a>: Sequence[Union[float, int]], <a href="#Cols1"><i>cols_1</i></a>: Sequence[Union[float, int]], <a href="#Rows2"><i>rows_2</i></a>: Sequence[Union[float, int]], <a href="#Cols2"><i>cols_2</i></a>: Sequence[Union[float, int]], <a href="#CamMat1"><i>cam_mat_1</i></a>: Sequence[Union[float, int]], <a href="#CamMat2"><i>cam_mat_2</i></a>: Sequence[Union[float, int]], <a href="#GrayMatchMethod"><i>gray_match_method</i></a>: str, <a href="#MaskSize"><i>mask_size</i></a>: int, <a href="#RowMove"><i>row_move</i></a>: int, <a href="#ColMove"><i>col_move</i></a>: int, <a href="#RowTolerance"><i>row_tolerance</i></a>: int, <a href="#ColTolerance"><i>col_tolerance</i></a>: int, <a href="#Rotation"><i>rotation</i></a>: MaybeSequence[Union[float, int]], <a href="#MatchThreshold"><i>match_threshold</i></a>: Union[int, float], <a href="#EstimationMethod"><i>estimation_method</i></a>: str, <a href="#DistanceThreshold"><i>distance_threshold</i></a>: Union[float, int], <a href="#RandSeed"><i>rand_seed</i></a>: int) -&gt; Tuple[Sequence[float], Sequence[float], Sequence[float], Sequence[int], Sequence[int]]</code></p>
<p>
<code>def <b>match_essential_matrix_ransac_s</b>(<a href="#Image1"><i>image_1</i></a>: HObject, <a href="#Image2"><i>image_2</i></a>: HObject, <a href="#Rows1"><i>rows_1</i></a>: Sequence[Union[float, int]], <a href="#Cols1"><i>cols_1</i></a>: Sequence[Union[float, int]], <a href="#Rows2"><i>rows_2</i></a>: Sequence[Union[float, int]], <a href="#Cols2"><i>cols_2</i></a>: Sequence[Union[float, int]], <a href="#CamMat1"><i>cam_mat_1</i></a>: Sequence[Union[float, int]], <a href="#CamMat2"><i>cam_mat_2</i></a>: Sequence[Union[float, int]], <a href="#GrayMatchMethod"><i>gray_match_method</i></a>: str, <a href="#MaskSize"><i>mask_size</i></a>: int, <a href="#RowMove"><i>row_move</i></a>: int, <a href="#ColMove"><i>col_move</i></a>: int, <a href="#RowTolerance"><i>row_tolerance</i></a>: int, <a href="#ColTolerance"><i>col_tolerance</i></a>: int, <a href="#Rotation"><i>rotation</i></a>: MaybeSequence[Union[float, int]], <a href="#MatchThreshold"><i>match_threshold</i></a>: Union[int, float], <a href="#EstimationMethod"><i>estimation_method</i></a>: str, <a href="#DistanceThreshold"><i>distance_threshold</i></a>: Union[float, int], <a href="#RandSeed"><i>rand_seed</i></a>: int) -&gt; Tuple[Sequence[float], Sequence[float], float, Sequence[int], Sequence[int]]</code></p>
</div>
<h2 id="sec_description">描述</h2>
<p>Given a set of coordinates of characteristic points
(<a href="#Rows1"><i><code><span data-if="hdevelop" style="display:inline">Rows1</span><span data-if="c" style="display:none">Rows1</span><span data-if="cpp" style="display:none">Rows1</span><span data-if="com" style="display:none">Rows1</span><span data-if="dotnet" style="display:none">rows1</span><span data-if="python" style="display:none">rows_1</span></code></i></a>,<a href="#Cols1"><i><code><span data-if="hdevelop" style="display:inline">Cols1</span><span data-if="c" style="display:none">Cols1</span><span data-if="cpp" style="display:none">Cols1</span><span data-if="com" style="display:none">Cols1</span><span data-if="dotnet" style="display:none">cols1</span><span data-if="python" style="display:none">cols_1</span></code></i></a>) and
(<a href="#Rows2"><i><code><span data-if="hdevelop" style="display:inline">Rows2</span><span data-if="c" style="display:none">Rows2</span><span data-if="cpp" style="display:none">Rows2</span><span data-if="com" style="display:none">Rows2</span><span data-if="dotnet" style="display:none">rows2</span><span data-if="python" style="display:none">rows_2</span></code></i></a>,<a href="#Cols2"><i><code><span data-if="hdevelop" style="display:inline">Cols2</span><span data-if="c" style="display:none">Cols2</span><span data-if="cpp" style="display:none">Cols2</span><span data-if="com" style="display:none">Cols2</span><span data-if="dotnet" style="display:none">cols2</span><span data-if="python" style="display:none">cols_2</span></code></i></a>) in the stereo images
<a href="#Image1"><i><code><span data-if="hdevelop" style="display:inline">Image1</span><span data-if="c" style="display:none">Image1</span><span data-if="cpp" style="display:none">Image1</span><span data-if="com" style="display:none">Image1</span><span data-if="dotnet" style="display:none">image1</span><span data-if="python" style="display:none">image_1</span></code></i></a> and <a href="#Image2"><i><code><span data-if="hdevelop" style="display:inline">Image2</span><span data-if="c" style="display:none">Image2</span><span data-if="cpp" style="display:none">Image2</span><span data-if="com" style="display:none">Image2</span><span data-if="dotnet" style="display:none">image2</span><span data-if="python" style="display:none">image_2</span></code></i></a> along with known internal camera
parameters, specified by the camera matrices <a href="#CamMat1"><i><code><span data-if="hdevelop" style="display:inline">CamMat1</span><span data-if="c" style="display:none">CamMat1</span><span data-if="cpp" style="display:none">CamMat1</span><span data-if="com" style="display:none">CamMat1</span><span data-if="dotnet" style="display:none">camMat1</span><span data-if="python" style="display:none">cam_mat_1</span></code></i></a> and
<a href="#CamMat2"><i><code><span data-if="hdevelop" style="display:inline">CamMat2</span><span data-if="c" style="display:none">CamMat2</span><span data-if="cpp" style="display:none">CamMat2</span><span data-if="com" style="display:none">CamMat2</span><span data-if="dotnet" style="display:none">camMat2</span><span data-if="python" style="display:none">cam_mat_2</span></code></i></a>, <code><span data-if="hdevelop" style="display:inline">match_essential_matrix_ransac</span><span data-if="c" style="display:none">match_essential_matrix_ransac</span><span data-if="cpp" style="display:none">MatchEssentialMatrixRansac</span><span data-if="com" style="display:none">MatchEssentialMatrixRansac</span><span data-if="dotnet" style="display:none">MatchEssentialMatrixRansac</span><span data-if="python" style="display:none">match_essential_matrix_ransac</span></code>
automatically determines the geometry of the stereo setup and finds
the correspondences between the characteristic points. The geometry
of the stereo setup is represented by the essential matrix
<a href="#EMatrix"><i><code><span data-if="hdevelop" style="display:inline">EMatrix</span><span data-if="c" style="display:none">EMatrix</span><span data-if="cpp" style="display:none">EMatrix</span><span data-if="com" style="display:none">EMatrix</span><span data-if="dotnet" style="display:none">EMatrix</span><span data-if="python" style="display:none">ematrix</span></code></i></a> and all corresponding points have to fulfill the
epipolar constraint.
</p>
<p>该算子 <code><span data-if="hdevelop" style="display:inline">match_essential_matrix_ransac</span><span data-if="c" style="display:none">match_essential_matrix_ransac</span><span data-if="cpp" style="display:none">MatchEssentialMatrixRansac</span><span data-if="com" style="display:none">MatchEssentialMatrixRansac</span><span data-if="dotnet" style="display:none">MatchEssentialMatrixRansac</span><span data-if="python" style="display:none">match_essential_matrix_ransac</span></code> is designed to deal with
a linear camera model.
The internal camera parameters are passed by the arguments
<a href="#CamMat1"><i><code><span data-if="hdevelop" style="display:inline">CamMat1</span><span data-if="c" style="display:none">CamMat1</span><span data-if="cpp" style="display:none">CamMat1</span><span data-if="com" style="display:none">CamMat1</span><span data-if="dotnet" style="display:none">camMat1</span><span data-if="python" style="display:none">cam_mat_1</span></code></i></a> and <a href="#CamMat2"><i><code><span data-if="hdevelop" style="display:inline">CamMat2</span><span data-if="c" style="display:none">CamMat2</span><span data-if="cpp" style="display:none">CamMat2</span><span data-if="com" style="display:none">CamMat2</span><span data-if="dotnet" style="display:none">camMat2</span><span data-if="python" style="display:none">cam_mat_2</span></code></i></a>, which are
3x3 upper triangular matrices describing an affine
transformation. The relation between a vector (X,Y,1), representing the
direction from the camera to the viewed 3D space point and its (projective)
2D image coordinates (col,row,1) is:
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<p>Note the column/row ordering in the point coordinates which has to
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scaling factors, s describes a skew factor and
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</svg></span> indicates the principal point.
Mainly, these are the elements known from the camera parameters as used for
example in <a href="calibrate_cameras.html"><code><span data-if="hdevelop" style="display:inline">calibrate_cameras</span><span data-if="c" style="display:none">calibrate_cameras</span><span data-if="cpp" style="display:none">CalibrateCameras</span><span data-if="com" style="display:none">CalibrateCameras</span><span data-if="dotnet" style="display:none">CalibrateCameras</span><span data-if="python" style="display:none">calibrate_cameras</span></code></a>. Alternatively, the elements
of the camera matrix can be described in a different way, see e.g.
<a href="stationary_camera_self_calibration.html"><code><span data-if="hdevelop" style="display:inline">stationary_camera_self_calibration</span><span data-if="c" style="display:none">stationary_camera_self_calibration</span><span data-if="cpp" style="display:none">StationaryCameraSelfCalibration</span><span data-if="com" style="display:none">StationaryCameraSelfCalibration</span><span data-if="dotnet" style="display:none">StationaryCameraSelfCalibration</span><span data-if="python" style="display:none">stationary_camera_self_calibration</span></code></a>.
Multiplied by the inverse of the camera matrices the direction
vectors in 3D space are obtained from the (projective) image
coordinates. For
known camera matrices the epipolar constraint is given by:
</p>
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</p>
<p>The matching process is based on characteristic points, which can be
extracted with point operators like <a href="points_foerstner.html"><code><span data-if="hdevelop" style="display:inline">points_foerstner</span><span data-if="c" style="display:none">points_foerstner</span><span data-if="cpp" style="display:none">PointsFoerstner</span><span data-if="com" style="display:none">PointsFoerstner</span><span data-if="dotnet" style="display:none">PointsFoerstner</span><span data-if="python" style="display:none">points_foerstner</span></code></a> or
<a href="points_harris.html"><code><span data-if="hdevelop" style="display:inline">points_harris</span><span data-if="c" style="display:none">points_harris</span><span data-if="cpp" style="display:none">PointsHarris</span><span data-if="com" style="display:none">PointsHarris</span><span data-if="dotnet" style="display:none">PointsHarris</span><span data-if="python" style="display:none">points_harris</span></code></a>.
The matching itself is carried out in two steps: first, gray value
correlations of mask windows around the input points in the first
and the second image are determined and an initial matching between
them is generated using the similarity of the windows in both images.
Then, the RANSAC algorithm is applied to find the essential matrix
that maximizes the number of correspondences under the epipolar constraint.
</p>
<p>The size of the mask windows is <a href="#MaskSize"><i><code><span data-if="hdevelop" style="display:inline">MaskSize</span><span data-if="c" style="display:none">MaskSize</span><span data-if="cpp" style="display:none">MaskSize</span><span data-if="com" style="display:none">MaskSize</span><span data-if="dotnet" style="display:none">maskSize</span><span data-if="python" style="display:none">mask_size</span></code></i></a> x <a href="#MaskSize"><i><code><span data-if="hdevelop" style="display:inline">MaskSize</span><span data-if="c" style="display:none">MaskSize</span><span data-if="cpp" style="display:none">MaskSize</span><span data-if="com" style="display:none">MaskSize</span><span data-if="dotnet" style="display:none">maskSize</span><span data-if="python" style="display:none">mask_size</span></code></i></a>.  Three
metrics for the correlation can be selected.  If
<a href="#GrayMatchMethod"><i><code><span data-if="hdevelop" style="display:inline">GrayMatchMethod</span><span data-if="c" style="display:none">GrayMatchMethod</span><span data-if="cpp" style="display:none">GrayMatchMethod</span><span data-if="com" style="display:none">GrayMatchMethod</span><span data-if="dotnet" style="display:none">grayMatchMethod</span><span data-if="python" style="display:none">gray_match_method</span></code></i></a> has the value <i><span data-if="hdevelop" style="display:inline">'ssd'</span><span data-if="c" style="display:none">"ssd"</span><span data-if="cpp" style="display:none">"ssd"</span><span data-if="com" style="display:none">"ssd"</span><span data-if="dotnet" style="display:none">"ssd"</span><span data-if="python" style="display:none">"ssd"</span></i>, the sum of
the squared gray value differences is used, <i><span data-if="hdevelop" style="display:inline">'sad'</span><span data-if="c" style="display:none">"sad"</span><span data-if="cpp" style="display:none">"sad"</span><span data-if="com" style="display:none">"sad"</span><span data-if="dotnet" style="display:none">"sad"</span><span data-if="python" style="display:none">"sad"</span></i> means the
sum of absolute differences, and <i><span data-if="hdevelop" style="display:inline">'ncc'</span><span data-if="c" style="display:none">"ncc"</span><span data-if="cpp" style="display:none">"ncc"</span><span data-if="com" style="display:none">"ncc"</span><span data-if="dotnet" style="display:none">"ncc"</span><span data-if="python" style="display:none">"ncc"</span></i> is the normalized
cross correlation. For details please refer to
<a href="binocular_disparity.html"><code><span data-if="hdevelop" style="display:inline">binocular_disparity</span><span data-if="c" style="display:none">binocular_disparity</span><span data-if="cpp" style="display:none">BinocularDisparity</span><span data-if="com" style="display:none">BinocularDisparity</span><span data-if="dotnet" style="display:none">BinocularDisparity</span><span data-if="python" style="display:none">binocular_disparity</span></code></a>. The metric is minimized (<i><span data-if="hdevelop" style="display:inline">'ssd'</span><span data-if="c" style="display:none">"ssd"</span><span data-if="cpp" style="display:none">"ssd"</span><span data-if="com" style="display:none">"ssd"</span><span data-if="dotnet" style="display:none">"ssd"</span><span data-if="python" style="display:none">"ssd"</span></i>,
<i><span data-if="hdevelop" style="display:inline">'sad'</span><span data-if="c" style="display:none">"sad"</span><span data-if="cpp" style="display:none">"sad"</span><span data-if="com" style="display:none">"sad"</span><span data-if="dotnet" style="display:none">"sad"</span><span data-if="python" style="display:none">"sad"</span></i>) or maximized (<i><span data-if="hdevelop" style="display:inline">'ncc'</span><span data-if="c" style="display:none">"ncc"</span><span data-if="cpp" style="display:none">"ncc"</span><span data-if="com" style="display:none">"ncc"</span><span data-if="dotnet" style="display:none">"ncc"</span><span data-if="python" style="display:none">"ncc"</span></i>) over all possible
point pairs. A thus found matching is only accepted if the value of
the metric is below the value of <a href="#MatchThreshold"><i><code><span data-if="hdevelop" style="display:inline">MatchThreshold</span><span data-if="c" style="display:none">MatchThreshold</span><span data-if="cpp" style="display:none">MatchThreshold</span><span data-if="com" style="display:none">MatchThreshold</span><span data-if="dotnet" style="display:none">matchThreshold</span><span data-if="python" style="display:none">match_threshold</span></code></i></a>
(<i><span data-if="hdevelop" style="display:inline">'ssd'</span><span data-if="c" style="display:none">"ssd"</span><span data-if="cpp" style="display:none">"ssd"</span><span data-if="com" style="display:none">"ssd"</span><span data-if="dotnet" style="display:none">"ssd"</span><span data-if="python" style="display:none">"ssd"</span></i>, <i><span data-if="hdevelop" style="display:inline">'sad'</span><span data-if="c" style="display:none">"sad"</span><span data-if="cpp" style="display:none">"sad"</span><span data-if="com" style="display:none">"sad"</span><span data-if="dotnet" style="display:none">"sad"</span><span data-if="python" style="display:none">"sad"</span></i>) or above that value
(<i><span data-if="hdevelop" style="display:inline">'ncc'</span><span data-if="c" style="display:none">"ncc"</span><span data-if="cpp" style="display:none">"ncc"</span><span data-if="com" style="display:none">"ncc"</span><span data-if="dotnet" style="display:none">"ncc"</span><span data-if="python" style="display:none">"ncc"</span></i>).
</p>
<p>To increase the speed of the algorithm, the search area for the
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</svg></span> points are considered. The offset of the
center of the search window in the second image with respect to the
position of the current point in the first image is given by
<a href="#RowMove"><i><code><span data-if="hdevelop" style="display:inline">RowMove</span><span data-if="c" style="display:none">RowMove</span><span data-if="cpp" style="display:none">RowMove</span><span data-if="com" style="display:none">RowMove</span><span data-if="dotnet" style="display:none">rowMove</span><span data-if="python" style="display:none">row_move</span></code></i></a> and <a href="#ColMove"><i><code><span data-if="hdevelop" style="display:inline">ColMove</span><span data-if="c" style="display:none">ColMove</span><span data-if="cpp" style="display:none">ColMove</span><span data-if="com" style="display:none">ColMove</span><span data-if="dotnet" style="display:none">colMove</span><span data-if="python" style="display:none">col_move</span></code></i></a>.
</p>
<p>If the second camera is
rotated around the optical axis with respect to the first camera
the parameter <a href="#Rotation"><i><code><span data-if="hdevelop" style="display:inline">Rotation</span><span data-if="c" style="display:none">Rotation</span><span data-if="cpp" style="display:none">Rotation</span><span data-if="com" style="display:none">Rotation</span><span data-if="dotnet" style="display:none">rotation</span><span data-if="python" style="display:none">rotation</span></code></i></a> may contain an estimate for the
rotation angle or an angle interval in radians. A good guess will
increase the quality of the gray value matching.  If the actual
rotation differs too much from the specified estimate the matching
will typically fail.  In this case, an angle interval should be
specified, and <a href="#Rotation"><i><code><span data-if="hdevelop" style="display:inline">Rotation</span><span data-if="c" style="display:none">Rotation</span><span data-if="cpp" style="display:none">Rotation</span><span data-if="com" style="display:none">Rotation</span><span data-if="dotnet" style="display:none">rotation</span><span data-if="python" style="display:none">rotation</span></code></i></a> is a tuple with two elements.  The
larger the given interval the slower 该算子 is since the
RANSAC algorithm is run over all angle increments within the
interval.
</p>
<p>After the initial matching is completed a randomized search algorithm
(RANSAC) is used to determine the essential matrix
<a href="#EMatrix"><i><code><span data-if="hdevelop" style="display:inline">EMatrix</span><span data-if="c" style="display:none">EMatrix</span><span data-if="cpp" style="display:none">EMatrix</span><span data-if="com" style="display:none">EMatrix</span><span data-if="dotnet" style="display:none">EMatrix</span><span data-if="python" style="display:none">ematrix</span></code></i></a>.  It tries to find the essential matrix that is consistent
with a maximum number of correspondences.
For a point to be accepted, the distance to its corresponding epipolar line
must not exceed the threshold <a href="#DistanceThreshold"><i><code><span data-if="hdevelop" style="display:inline">DistanceThreshold</span><span data-if="c" style="display:none">DistanceThreshold</span><span data-if="cpp" style="display:none">DistanceThreshold</span><span data-if="com" style="display:none">DistanceThreshold</span><span data-if="dotnet" style="display:none">distanceThreshold</span><span data-if="python" style="display:none">distance_threshold</span></code></i></a>.
</p>
<p>The parameter <a href="#EstimationMethod"><i><code><span data-if="hdevelop" style="display:inline">EstimationMethod</span><span data-if="c" style="display:none">EstimationMethod</span><span data-if="cpp" style="display:none">EstimationMethod</span><span data-if="com" style="display:none">EstimationMethod</span><span data-if="dotnet" style="display:none">estimationMethod</span><span data-if="python" style="display:none">estimation_method</span></code></i></a> decides whether the relative
orientation between the cameras is of a special type and which algorithm is
to be applied for its computation.
If <a href="#EstimationMethod"><i><code><span data-if="hdevelop" style="display:inline">EstimationMethod</span><span data-if="c" style="display:none">EstimationMethod</span><span data-if="cpp" style="display:none">EstimationMethod</span><span data-if="com" style="display:none">EstimationMethod</span><span data-if="dotnet" style="display:none">estimationMethod</span><span data-if="python" style="display:none">estimation_method</span></code></i></a> is either <i><span data-if="hdevelop" style="display:inline">'normalized_dlt'</span><span data-if="c" style="display:none">"normalized_dlt"</span><span data-if="cpp" style="display:none">"normalized_dlt"</span><span data-if="com" style="display:none">"normalized_dlt"</span><span data-if="dotnet" style="display:none">"normalized_dlt"</span><span data-if="python" style="display:none">"normalized_dlt"</span></i> or
<i><span data-if="hdevelop" style="display:inline">'gold_standard'</span><span data-if="c" style="display:none">"gold_standard"</span><span data-if="cpp" style="display:none">"gold_standard"</span><span data-if="com" style="display:none">"gold_standard"</span><span data-if="dotnet" style="display:none">"gold_standard"</span><span data-if="python" style="display:none">"gold_standard"</span></i> the relative orientation is arbitrary.
Choosing <i><span data-if="hdevelop" style="display:inline">'trans_normalized_dlt'</span><span data-if="c" style="display:none">"trans_normalized_dlt"</span><span data-if="cpp" style="display:none">"trans_normalized_dlt"</span><span data-if="com" style="display:none">"trans_normalized_dlt"</span><span data-if="dotnet" style="display:none">"trans_normalized_dlt"</span><span data-if="python" style="display:none">"trans_normalized_dlt"</span></i> or <i><span data-if="hdevelop" style="display:inline">'trans_gold_standard'</span><span data-if="c" style="display:none">"trans_gold_standard"</span><span data-if="cpp" style="display:none">"trans_gold_standard"</span><span data-if="com" style="display:none">"trans_gold_standard"</span><span data-if="dotnet" style="display:none">"trans_gold_standard"</span><span data-if="python" style="display:none">"trans_gold_standard"</span></i>
means that the relative motion between the cameras is a pure translation.
The typical application for this special motion case is the
scenario of a single fixed camera looking onto a moving conveyor belt.
In order to get a unique solution in the correspondence problem the minimum
required number of corresponding points is six in the general case and three
in the special, translational case.
</p>
<p>The essential matrix is computed by a linear algorithm if
<i><span data-if="hdevelop" style="display:inline">'normalized_dlt'</span><span data-if="c" style="display:none">"normalized_dlt"</span><span data-if="cpp" style="display:none">"normalized_dlt"</span><span data-if="com" style="display:none">"normalized_dlt"</span><span data-if="dotnet" style="display:none">"normalized_dlt"</span><span data-if="python" style="display:none">"normalized_dlt"</span></i> or <i><span data-if="hdevelop" style="display:inline">'trans_normalized_dlt'</span><span data-if="c" style="display:none">"trans_normalized_dlt"</span><span data-if="cpp" style="display:none">"trans_normalized_dlt"</span><span data-if="com" style="display:none">"trans_normalized_dlt"</span><span data-if="dotnet" style="display:none">"trans_normalized_dlt"</span><span data-if="python" style="display:none">"trans_normalized_dlt"</span></i> is chosen.
With <i><span data-if="hdevelop" style="display:inline">'gold_standard'</span><span data-if="c" style="display:none">"gold_standard"</span><span data-if="cpp" style="display:none">"gold_standard"</span><span data-if="com" style="display:none">"gold_standard"</span><span data-if="dotnet" style="display:none">"gold_standard"</span><span data-if="python" style="display:none">"gold_standard"</span></i> or <i><span data-if="hdevelop" style="display:inline">'trans_gold_standard'</span><span data-if="c" style="display:none">"trans_gold_standard"</span><span data-if="cpp" style="display:none">"trans_gold_standard"</span><span data-if="com" style="display:none">"trans_gold_standard"</span><span data-if="dotnet" style="display:none">"trans_gold_standard"</span><span data-if="python" style="display:none">"trans_gold_standard"</span></i>
the algorithm gives a statistically optimal result, and returns the
covariance of the essential matrix <a href="#CovEMat"><i><code><span data-if="hdevelop" style="display:inline">CovEMat</span><span data-if="c" style="display:none">CovEMat</span><span data-if="cpp" style="display:none">CovEMat</span><span data-if="com" style="display:none">CovEMat</span><span data-if="dotnet" style="display:none">covEMat</span><span data-if="python" style="display:none">cov_emat</span></code></i></a> as well.
Here, <i><span data-if="hdevelop" style="display:inline">'normalized_dlt'</span><span data-if="c" style="display:none">"normalized_dlt"</span><span data-if="cpp" style="display:none">"normalized_dlt"</span><span data-if="com" style="display:none">"normalized_dlt"</span><span data-if="dotnet" style="display:none">"normalized_dlt"</span><span data-if="python" style="display:none">"normalized_dlt"</span></i> and <i><span data-if="hdevelop" style="display:inline">'gold_standard'</span><span data-if="c" style="display:none">"gold_standard"</span><span data-if="cpp" style="display:none">"gold_standard"</span><span data-if="com" style="display:none">"gold_standard"</span><span data-if="dotnet" style="display:none">"gold_standard"</span><span data-if="python" style="display:none">"gold_standard"</span></i> stand for
direct-linear-transformation and gold-standard-algorithm respectively.
Note, that in general the found correspondences differ depending on the
deployed estimation method.
</p>
<p>The value <a href="#Error"><i><code><span data-if="hdevelop" style="display:inline">Error</span><span data-if="c" style="display:none">Error</span><span data-if="cpp" style="display:none">Error</span><span data-if="com" style="display:none">Error</span><span data-if="dotnet" style="display:none">error</span><span data-if="python" style="display:none">error</span></code></i></a> indicates the overall quality of the estimation
procedure and is the mean Euclidean distance in pixels between the
points and their corresponding epipolar lines.
</p>
<p>Point pairs consistent with the mentioned constraints are considered to be
in correspondences. <a href="#Points1"><i><code><span data-if="hdevelop" style="display:inline">Points1</span><span data-if="c" style="display:none">Points1</span><span data-if="cpp" style="display:none">Points1</span><span data-if="com" style="display:none">Points1</span><span data-if="dotnet" style="display:none">points1</span><span data-if="python" style="display:none">points_1</span></code></i></a> contains the indices of the
matched input points from the first image and <a href="#Points2"><i><code><span data-if="hdevelop" style="display:inline">Points2</span><span data-if="c" style="display:none">Points2</span><span data-if="cpp" style="display:none">Points2</span><span data-if="com" style="display:none">Points2</span><span data-if="dotnet" style="display:none">points2</span><span data-if="python" style="display:none">points_2</span></code></i></a> contains
the indices of the corresponding points in the second image.
</p>
<p>For 该算子 <code><span data-if="hdevelop" style="display:inline">match_essential_matrix_ransac</span><span data-if="c" style="display:none">match_essential_matrix_ransac</span><span data-if="cpp" style="display:none">MatchEssentialMatrixRansac</span><span data-if="com" style="display:none">MatchEssentialMatrixRansac</span><span data-if="dotnet" style="display:none">MatchEssentialMatrixRansac</span><span data-if="python" style="display:none">match_essential_matrix_ransac</span></code> a special
configuration of scene points and cameras exists: if all 3D points lie in a
single plane and additionally are all closer to one of the two cameras then
the solution in the essential matrix is not unique but twofold.
As a consequence both solutions are computed and returned by 该算子.
This means that the output parameters <a href="#EMatrix"><i><code><span data-if="hdevelop" style="display:inline">EMatrix</span><span data-if="c" style="display:none">EMatrix</span><span data-if="cpp" style="display:none">EMatrix</span><span data-if="com" style="display:none">EMatrix</span><span data-if="dotnet" style="display:none">EMatrix</span><span data-if="python" style="display:none">ematrix</span></code></i></a>, <a href="#CovEMat"><i><code><span data-if="hdevelop" style="display:inline">CovEMat</span><span data-if="c" style="display:none">CovEMat</span><span data-if="cpp" style="display:none">CovEMat</span><span data-if="com" style="display:none">CovEMat</span><span data-if="dotnet" style="display:none">covEMat</span><span data-if="python" style="display:none">cov_emat</span></code></i></a>
and <a href="#Error"><i><code><span data-if="hdevelop" style="display:inline">Error</span><span data-if="c" style="display:none">Error</span><span data-if="cpp" style="display:none">Error</span><span data-if="com" style="display:none">Error</span><span data-if="dotnet" style="display:none">error</span><span data-if="python" style="display:none">error</span></code></i></a> are of double length and the values of the second
solution are simply concatenated behind the values of the first one.
</p>
<p>The parameter <a href="#RandSeed"><i><code><span data-if="hdevelop" style="display:inline">RandSeed</span><span data-if="c" style="display:none">RandSeed</span><span data-if="cpp" style="display:none">RandSeed</span><span data-if="com" style="display:none">RandSeed</span><span data-if="dotnet" style="display:none">randSeed</span><span data-if="python" style="display:none">rand_seed</span></code></i></a> can be used to control the
randomized nature of the RANSAC algorithm, and hence to obtain
reproducible results. If <a href="#RandSeed"><i><code><span data-if="hdevelop" style="display:inline">RandSeed</span><span data-if="c" style="display:none">RandSeed</span><span data-if="cpp" style="display:none">RandSeed</span><span data-if="com" style="display:none">RandSeed</span><span data-if="dotnet" style="display:none">randSeed</span><span data-if="python" style="display:none">rand_seed</span></code></i></a> is set to a positive
number 该算子 yields the same result on every call with the
same parameters because the internally used random number generator
is initialized with the <a href="#RandSeed"><i><code><span data-if="hdevelop" style="display:inline">RandSeed</span><span data-if="c" style="display:none">RandSeed</span><span data-if="cpp" style="display:none">RandSeed</span><span data-if="com" style="display:none">RandSeed</span><span data-if="dotnet" style="display:none">randSeed</span><span data-if="python" style="display:none">rand_seed</span></code></i></a>. If <a href="#RandSeed"><i><code><span data-if="hdevelop" style="display:inline">RandSeed</span><span data-if="c" style="display:none">RandSeed</span><span data-if="cpp" style="display:none">RandSeed</span><span data-if="com" style="display:none">RandSeed</span><span data-if="dotnet" style="display:none">randSeed</span><span data-if="python" style="display:none">rand_seed</span></code></i></a> =
<i>0</i> the random number generator is initialized with the
current time. In this case the results may not be reproducible.
</p>
<h2 id="sec_execution">运行信息</h2>
<ul>
  <li>多线程类型:可重入(与非独占操作符并行运行)。</li>
<li>多线程作用域:全局(可以从任何线程调用)。</li>
  <li>未经并行化处理。</li>
</ul>
<h2 id="sec_parameters">参数表</h2>
  <div class="par">
<div class="parhead">
<span id="Image1" class="parname"><b><code><span data-if="hdevelop" style="display:inline">Image1</span><span data-if="c" style="display:none">Image1</span><span data-if="cpp" style="display:none">Image1</span><span data-if="com" style="display:none">Image1</span><span data-if="dotnet" style="display:none">image1</span><span data-if="python" style="display:none">image_1</span></code></b> (input_object)  </span><span>singlechannelimage <code>→</code> <span data-if="hdevelop" style="display:inline">object</span><span data-if="dotnet" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="python" style="display:none">HObject</span><span data-if="cpp" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="c" style="display:none">Hobject</span> (byte / uint2)</span>
</div>
<p class="pardesc">Input image 1.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="Image2" class="parname"><b><code><span data-if="hdevelop" style="display:inline">Image2</span><span data-if="c" style="display:none">Image2</span><span data-if="cpp" style="display:none">Image2</span><span data-if="com" style="display:none">Image2</span><span data-if="dotnet" style="display:none">image2</span><span data-if="python" style="display:none">image_2</span></code></b> (input_object)  </span><span>singlechannelimage <code>→</code> <span data-if="hdevelop" style="display:inline">object</span><span data-if="dotnet" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="python" style="display:none">HObject</span><span data-if="cpp" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="c" style="display:none">Hobject</span> (byte / uint2)</span>
</div>
<p class="pardesc">Input image 2.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="Rows1" class="parname"><b><code><span data-if="hdevelop" style="display:inline">Rows1</span><span data-if="c" style="display:none">Rows1</span><span data-if="cpp" style="display:none">Rows1</span><span data-if="com" style="display:none">Rows1</span><span data-if="dotnet" style="display:none">rows1</span><span data-if="python" style="display:none">rows_1</span></code></b> (input_control)  </span><span>number-array <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[Union[float, int]]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real / </span><span data-if="hdevelop" style="display:inline">integer)</span><span data-if="dotnet" style="display:none"> (<i>double</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>double</i> / </span><span data-if="cpp" style="display:none">Hlong)</span><span data-if="c" style="display:none"> (<i>double</i> / </span><span data-if="c" style="display:none">Hlong)</span></span>
</div>
<p class="pardesc">Row coordinates of characteristic points
in image 1.</p>
<p class="pardesc"><span class="parcat">Restriction:
      </span><code>length(Rows1) &gt;= 6 || length(Rows1) &gt;= 3</code></p>
</div>
  <div class="par">
<div class="parhead">
<span id="Cols1" class="parname"><b><code><span data-if="hdevelop" style="display:inline">Cols1</span><span data-if="c" style="display:none">Cols1</span><span data-if="cpp" style="display:none">Cols1</span><span data-if="com" style="display:none">Cols1</span><span data-if="dotnet" style="display:none">cols1</span><span data-if="python" style="display:none">cols_1</span></code></b> (input_control)  </span><span>number-array <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[Union[float, int]]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real / </span><span data-if="hdevelop" style="display:inline">integer)</span><span data-if="dotnet" style="display:none"> (<i>double</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>double</i> / </span><span data-if="cpp" style="display:none">Hlong)</span><span data-if="c" style="display:none"> (<i>double</i> / </span><span data-if="c" style="display:none">Hlong)</span></span>
</div>
<p class="pardesc">Column coordinates of characteristic points
in image 1.</p>
<p class="pardesc"><span class="parcat">Restriction:
      </span><code>length(Cols1) == length(Rows1)</code></p>
</div>
  <div class="par">
<div class="parhead">
<span id="Rows2" class="parname"><b><code><span data-if="hdevelop" style="display:inline">Rows2</span><span data-if="c" style="display:none">Rows2</span><span data-if="cpp" style="display:none">Rows2</span><span data-if="com" style="display:none">Rows2</span><span data-if="dotnet" style="display:none">rows2</span><span data-if="python" style="display:none">rows_2</span></code></b> (input_control)  </span><span>number-array <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[Union[float, int]]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real / </span><span data-if="hdevelop" style="display:inline">integer)</span><span data-if="dotnet" style="display:none"> (<i>double</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>double</i> / </span><span data-if="cpp" style="display:none">Hlong)</span><span data-if="c" style="display:none"> (<i>double</i> / </span><span data-if="c" style="display:none">Hlong)</span></span>
</div>
<p class="pardesc">Row coordinates of characteristic points
in image 2.</p>
<p class="pardesc"><span class="parcat">Restriction:
      </span><code>length(Rows2) &gt;= 6 || length(Rows2) &gt;= 3</code></p>
</div>
  <div class="par">
<div class="parhead">
<span id="Cols2" class="parname"><b><code><span data-if="hdevelop" style="display:inline">Cols2</span><span data-if="c" style="display:none">Cols2</span><span data-if="cpp" style="display:none">Cols2</span><span data-if="com" style="display:none">Cols2</span><span data-if="dotnet" style="display:none">cols2</span><span data-if="python" style="display:none">cols_2</span></code></b> (input_control)  </span><span>number-array <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[Union[float, int]]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real / </span><span data-if="hdevelop" style="display:inline">integer)</span><span data-if="dotnet" style="display:none"> (<i>double</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>double</i> / </span><span data-if="cpp" style="display:none">Hlong)</span><span data-if="c" style="display:none"> (<i>double</i> / </span><span data-if="c" style="display:none">Hlong)</span></span>
</div>
<p class="pardesc">Column coordinates of characteristic points
in image 2.</p>
<p class="pardesc"><span class="parcat">Restriction:
      </span><code>length(Cols2) == length(Rows2)</code></p>
</div>
  <div class="par">
<div class="parhead">
<span id="CamMat1" class="parname"><b><code><span data-if="hdevelop" style="display:inline">CamMat1</span><span data-if="c" style="display:none">CamMat1</span><span data-if="cpp" style="display:none">CamMat1</span><span data-if="com" style="display:none">CamMat1</span><span data-if="dotnet" style="display:none">camMat1</span><span data-if="python" style="display:none">cam_mat_1</span></code></b> (input_control)  </span><span>hom_mat2d <code>→</code> <span data-if="dotnet" style="display:none"><a href="HHomMat2D.html">HHomMat2D</a>, </span><span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[Union[float, int]]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real / </span><span data-if="hdevelop" style="display:inline">integer)</span><span data-if="dotnet" style="display:none"> (<i>double</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>double</i> / </span><span data-if="cpp" style="display:none">Hlong)</span><span data-if="c" style="display:none"> (<i>double</i> / </span><span data-if="c" style="display:none">Hlong)</span></span>
</div>
<p class="pardesc">Camera matrix of the 1st camera.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="CamMat2" class="parname"><b><code><span data-if="hdevelop" style="display:inline">CamMat2</span><span data-if="c" style="display:none">CamMat2</span><span data-if="cpp" style="display:none">CamMat2</span><span data-if="com" style="display:none">CamMat2</span><span data-if="dotnet" style="display:none">camMat2</span><span data-if="python" style="display:none">cam_mat_2</span></code></b> (input_control)  </span><span>hom_mat2d <code>→</code> <span data-if="dotnet" style="display:none"><a href="HHomMat2D.html">HHomMat2D</a>, </span><span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[Union[float, int]]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real / </span><span data-if="hdevelop" style="display:inline">integer)</span><span data-if="dotnet" style="display:none"> (<i>double</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>double</i> / </span><span data-if="cpp" style="display:none">Hlong)</span><span data-if="c" style="display:none"> (<i>double</i> / </span><span data-if="c" style="display:none">Hlong)</span></span>
</div>
<p class="pardesc">Camera matrix of the 2nd camera.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="GrayMatchMethod" class="parname"><b><code><span data-if="hdevelop" style="display:inline">GrayMatchMethod</span><span data-if="c" style="display:none">GrayMatchMethod</span><span data-if="cpp" style="display:none">GrayMatchMethod</span><span data-if="com" style="display:none">GrayMatchMethod</span><span data-if="dotnet" style="display:none">grayMatchMethod</span><span data-if="python" style="display:none">gray_match_method</span></code></b> (input_control)  </span><span>string <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">str</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (string)</span><span data-if="dotnet" style="display:none"> (<i>string</i>)</span><span data-if="cpp" style="display:none"> (<i>HString</i>)</span><span data-if="c" style="display:none"> (<i>char*</i>)</span></span>
</div>
<p class="pardesc">Gray value comparison metric.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>
    <span data-if="hdevelop" style="display:inline">'ssd'</span>
    <span data-if="c" style="display:none">"ssd"</span>
    <span data-if="cpp" style="display:none">"ssd"</span>
    <span data-if="com" style="display:none">"ssd"</span>
    <span data-if="dotnet" style="display:none">"ssd"</span>
    <span data-if="python" style="display:none">"ssd"</span>
</p>
<p class="pardesc"><span class="parcat">List of values:
      </span><span data-if="hdevelop" style="display:inline">'ncc'</span><span data-if="c" style="display:none">"ncc"</span><span data-if="cpp" style="display:none">"ncc"</span><span data-if="com" style="display:none">"ncc"</span><span data-if="dotnet" style="display:none">"ncc"</span><span data-if="python" style="display:none">"ncc"</span>, <span data-if="hdevelop" style="display:inline">'sad'</span><span data-if="c" style="display:none">"sad"</span><span data-if="cpp" style="display:none">"sad"</span><span data-if="com" style="display:none">"sad"</span><span data-if="dotnet" style="display:none">"sad"</span><span data-if="python" style="display:none">"sad"</span>, <span data-if="hdevelop" style="display:inline">'ssd'</span><span data-if="c" style="display:none">"ssd"</span><span data-if="cpp" style="display:none">"ssd"</span><span data-if="com" style="display:none">"ssd"</span><span data-if="dotnet" style="display:none">"ssd"</span><span data-if="python" style="display:none">"ssd"</span></p>
</div>
  <div class="par">
<div class="parhead">
<span id="MaskSize" class="parname"><b><code><span data-if="hdevelop" style="display:inline">MaskSize</span><span data-if="c" style="display:none">MaskSize</span><span data-if="cpp" style="display:none">MaskSize</span><span data-if="com" style="display:none">MaskSize</span><span data-if="dotnet" style="display:none">maskSize</span><span data-if="python" style="display:none">mask_size</span></code></b> (input_control)  </span><span>integer <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">int</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (integer)</span><span data-if="dotnet" style="display:none"> (<i>int</i> / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>Hlong</i>)</span><span data-if="c" style="display:none"> (<i>Hlong</i>)</span></span>
</div>
<p class="pardesc">Size of gray value masks.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>10</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span>3, 7, 15</p>
<p class="pardesc"><span class="parcat">Value range:
      </span><code>1
          ≤
        
    <span data-if="hdevelop" style="display:inline">MaskSize</span>
    <span data-if="c" style="display:none">MaskSize</span>
    <span data-if="cpp" style="display:none">MaskSize</span>
    <span data-if="com" style="display:none">MaskSize</span>
    <span data-if="dotnet" style="display:none">maskSize</span>
    <span data-if="python" style="display:none">mask_size</span>
    </code></p>
</div>
  <div class="par">
<div class="parhead">
<span id="RowMove" class="parname"><b><code><span data-if="hdevelop" style="display:inline">RowMove</span><span data-if="c" style="display:none">RowMove</span><span data-if="cpp" style="display:none">RowMove</span><span data-if="com" style="display:none">RowMove</span><span data-if="dotnet" style="display:none">rowMove</span><span data-if="python" style="display:none">row_move</span></code></b> (input_control)  </span><span>integer <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">int</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (integer)</span><span data-if="dotnet" style="display:none"> (<i>int</i> / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>Hlong</i>)</span><span data-if="c" style="display:none"> (<i>Hlong</i>)</span></span>
</div>
<p class="pardesc">Average row coordinate shift of corresponding points.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>0</p>
<p class="pardesc"><span class="parcat">Value range:
      </span><code>0
          ≤
        
    <span data-if="hdevelop" style="display:inline">RowMove</span>
    <span data-if="c" style="display:none">RowMove</span>
    <span data-if="cpp" style="display:none">RowMove</span>
    <span data-if="com" style="display:none">RowMove</span>
    <span data-if="dotnet" style="display:none">rowMove</span>
    <span data-if="python" style="display:none">row_move</span>
    
          ≤
          200</code></p>
</div>
  <div class="par">
<div class="parhead">
<span id="ColMove" class="parname"><b><code><span data-if="hdevelop" style="display:inline">ColMove</span><span data-if="c" style="display:none">ColMove</span><span data-if="cpp" style="display:none">ColMove</span><span data-if="com" style="display:none">ColMove</span><span data-if="dotnet" style="display:none">colMove</span><span data-if="python" style="display:none">col_move</span></code></b> (input_control)  </span><span>integer <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">int</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (integer)</span><span data-if="dotnet" style="display:none"> (<i>int</i> / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>Hlong</i>)</span><span data-if="c" style="display:none"> (<i>Hlong</i>)</span></span>
</div>
<p class="pardesc">Average column coordinate shift of
corresponding points.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>0</p>
<p class="pardesc"><span class="parcat">Value range:
      </span><code>0
          ≤
        
    <span data-if="hdevelop" style="display:inline">ColMove</span>
    <span data-if="c" style="display:none">ColMove</span>
    <span data-if="cpp" style="display:none">ColMove</span>
    <span data-if="com" style="display:none">ColMove</span>
    <span data-if="dotnet" style="display:none">colMove</span>
    <span data-if="python" style="display:none">col_move</span>
    
          ≤
          200</code></p>
</div>
  <div class="par">
<div class="parhead">
<span id="RowTolerance" class="parname"><b><code><span data-if="hdevelop" style="display:inline">RowTolerance</span><span data-if="c" style="display:none">RowTolerance</span><span data-if="cpp" style="display:none">RowTolerance</span><span data-if="com" style="display:none">RowTolerance</span><span data-if="dotnet" style="display:none">rowTolerance</span><span data-if="python" style="display:none">row_tolerance</span></code></b> (input_control)  </span><span>integer <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">int</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (integer)</span><span data-if="dotnet" style="display:none"> (<i>int</i> / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>Hlong</i>)</span><span data-if="c" style="display:none"> (<i>Hlong</i>)</span></span>
</div>
<p class="pardesc">Half height of matching search window.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>200</p>
<p class="pardesc"><span class="parcat">Value range:
      </span><code>1
          ≤
        
    <span data-if="hdevelop" style="display:inline">RowTolerance</span>
    <span data-if="c" style="display:none">RowTolerance</span>
    <span data-if="cpp" style="display:none">RowTolerance</span>
    <span data-if="com" style="display:none">RowTolerance</span>
    <span data-if="dotnet" style="display:none">rowTolerance</span>
    <span data-if="python" style="display:none">row_tolerance</span>
    </code></p>
</div>
  <div class="par">
<div class="parhead">
<span id="ColTolerance" class="parname"><b><code><span data-if="hdevelop" style="display:inline">ColTolerance</span><span data-if="c" style="display:none">ColTolerance</span><span data-if="cpp" style="display:none">ColTolerance</span><span data-if="com" style="display:none">ColTolerance</span><span data-if="dotnet" style="display:none">colTolerance</span><span data-if="python" style="display:none">col_tolerance</span></code></b> (input_control)  </span><span>integer <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">int</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (integer)</span><span data-if="dotnet" style="display:none"> (<i>int</i> / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>Hlong</i>)</span><span data-if="c" style="display:none"> (<i>Hlong</i>)</span></span>
</div>
<p class="pardesc">Half width of matching search window.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>200</p>
<p class="pardesc"><span class="parcat">Value range:
      </span><code>1
          ≤
        
    <span data-if="hdevelop" style="display:inline">ColTolerance</span>
    <span data-if="c" style="display:none">ColTolerance</span>
    <span data-if="cpp" style="display:none">ColTolerance</span>
    <span data-if="com" style="display:none">ColTolerance</span>
    <span data-if="dotnet" style="display:none">colTolerance</span>
    <span data-if="python" style="display:none">col_tolerance</span>
    </code></p>
</div>
  <div class="par">
<div class="parhead">
<span id="Rotation" class="parname"><b><code><span data-if="hdevelop" style="display:inline">Rotation</span><span data-if="c" style="display:none">Rotation</span><span data-if="cpp" style="display:none">Rotation</span><span data-if="com" style="display:none">Rotation</span><span data-if="dotnet" style="display:none">rotation</span><span data-if="python" style="display:none">rotation</span></code></b> (input_control)  </span><span>angle.rad(-array) <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">MaybeSequence[Union[float, int]]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real / </span><span data-if="hdevelop" style="display:inline">integer)</span><span data-if="dotnet" style="display:none"> (<i>double</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>double</i> / </span><span data-if="cpp" style="display:none">Hlong)</span><span data-if="c" style="display:none"> (<i>double</i> / </span><span data-if="c" style="display:none">Hlong)</span></span>
</div>
<p class="pardesc">Estimate of the relative orientation of the right image
with respect to the left image.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>0.0</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span>0.0, 0.1, -0.1, 0.7854, 1.571, 3.142</p>
</div>
  <div class="par">
<div class="parhead">
<span id="MatchThreshold" class="parname"><b><code><span data-if="hdevelop" style="display:inline">MatchThreshold</span><span data-if="c" style="display:none">MatchThreshold</span><span data-if="cpp" style="display:none">MatchThreshold</span><span data-if="com" style="display:none">MatchThreshold</span><span data-if="dotnet" style="display:none">matchThreshold</span><span data-if="python" style="display:none">match_threshold</span></code></b> (input_control)  </span><span>number <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Union[int, float]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (integer / </span><span data-if="hdevelop" style="display:inline">real)</span><span data-if="dotnet" style="display:none"> (<i>int</i> / </span><span data-if="dotnet" style="display:none">long / </span><span data-if="dotnet" style="display:none">double)</span><span data-if="cpp" style="display:none"> (<i>Hlong</i> / </span><span data-if="cpp" style="display:none">double)</span><span data-if="c" style="display:none"> (<i>Hlong</i> / </span><span data-if="c" style="display:none">double)</span></span>
</div>
<p class="pardesc">Threshold for gray value matching.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>10</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span>10, 20, 50, 100, 0.9, 0.7</p>
</div>
  <div class="par">
<div class="parhead">
<span id="EstimationMethod" class="parname"><b><code><span data-if="hdevelop" style="display:inline">EstimationMethod</span><span data-if="c" style="display:none">EstimationMethod</span><span data-if="cpp" style="display:none">EstimationMethod</span><span data-if="com" style="display:none">EstimationMethod</span><span data-if="dotnet" style="display:none">estimationMethod</span><span data-if="python" style="display:none">estimation_method</span></code></b> (input_control)  </span><span>string <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">str</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (string)</span><span data-if="dotnet" style="display:none"> (<i>string</i>)</span><span data-if="cpp" style="display:none"> (<i>HString</i>)</span><span data-if="c" style="display:none"> (<i>char*</i>)</span></span>
</div>
<p class="pardesc">Algorithm for the computation of the
essential matrix and for special camera orientations.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>
    <span data-if="hdevelop" style="display:inline">'normalized_dlt'</span>
    <span data-if="c" style="display:none">"normalized_dlt"</span>
    <span data-if="cpp" style="display:none">"normalized_dlt"</span>
    <span data-if="com" style="display:none">"normalized_dlt"</span>
    <span data-if="dotnet" style="display:none">"normalized_dlt"</span>
    <span data-if="python" style="display:none">"normalized_dlt"</span>
</p>
<p class="pardesc"><span class="parcat">List of values:
      </span><span data-if="hdevelop" style="display:inline">'gold_standard'</span><span data-if="c" style="display:none">"gold_standard"</span><span data-if="cpp" style="display:none">"gold_standard"</span><span data-if="com" style="display:none">"gold_standard"</span><span data-if="dotnet" style="display:none">"gold_standard"</span><span data-if="python" style="display:none">"gold_standard"</span>, <span data-if="hdevelop" style="display:inline">'normalized_dlt'</span><span data-if="c" style="display:none">"normalized_dlt"</span><span data-if="cpp" style="display:none">"normalized_dlt"</span><span data-if="com" style="display:none">"normalized_dlt"</span><span data-if="dotnet" style="display:none">"normalized_dlt"</span><span data-if="python" style="display:none">"normalized_dlt"</span>, <span data-if="hdevelop" style="display:inline">'trans_gold_standard'</span><span data-if="c" style="display:none">"trans_gold_standard"</span><span data-if="cpp" style="display:none">"trans_gold_standard"</span><span data-if="com" style="display:none">"trans_gold_standard"</span><span data-if="dotnet" style="display:none">"trans_gold_standard"</span><span data-if="python" style="display:none">"trans_gold_standard"</span>, <span data-if="hdevelop" style="display:inline">'trans_normalized_dlt'</span><span data-if="c" style="display:none">"trans_normalized_dlt"</span><span data-if="cpp" style="display:none">"trans_normalized_dlt"</span><span data-if="com" style="display:none">"trans_normalized_dlt"</span><span data-if="dotnet" style="display:none">"trans_normalized_dlt"</span><span data-if="python" style="display:none">"trans_normalized_dlt"</span></p>
</div>
  <div class="par">
<div class="parhead">
<span id="DistanceThreshold" class="parname"><b><code><span data-if="hdevelop" style="display:inline">DistanceThreshold</span><span data-if="c" style="display:none">DistanceThreshold</span><span data-if="cpp" style="display:none">DistanceThreshold</span><span data-if="com" style="display:none">DistanceThreshold</span><span data-if="dotnet" style="display:none">distanceThreshold</span><span data-if="python" style="display:none">distance_threshold</span></code></b> (input_control)  </span><span>number <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Union[float, int]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real / </span><span data-if="hdevelop" style="display:inline">integer)</span><span data-if="dotnet" style="display:none"> (<i>double</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>double</i> / </span><span data-if="cpp" style="display:none">Hlong)</span><span data-if="c" style="display:none"> (<i>double</i> / </span><span data-if="c" style="display:none">Hlong)</span></span>
</div>
<p class="pardesc">Maximal deviation of a point from its epipolar line.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>1</p>
<p class="pardesc"><span class="parcat">Value range:
      </span><code>0.5
          ≤
        
    <span data-if="hdevelop" style="display:inline">DistanceThreshold</span>
    <span data-if="c" style="display:none">DistanceThreshold</span>
    <span data-if="cpp" style="display:none">DistanceThreshold</span>
    <span data-if="com" style="display:none">DistanceThreshold</span>
    <span data-if="dotnet" style="display:none">distanceThreshold</span>
    <span data-if="python" style="display:none">distance_threshold</span>
    
          ≤
          5</code></p>
<p class="pardesc"><span class="parcat">Restriction:
      </span><code>DistanceThreshold &gt; 0</code></p>
</div>
  <div class="par">
<div class="parhead">
<span id="RandSeed" class="parname"><b><code><span data-if="hdevelop" style="display:inline">RandSeed</span><span data-if="c" style="display:none">RandSeed</span><span data-if="cpp" style="display:none">RandSeed</span><span data-if="com" style="display:none">RandSeed</span><span data-if="dotnet" style="display:none">randSeed</span><span data-if="python" style="display:none">rand_seed</span></code></b> (input_control)  </span><span>integer <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">int</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (integer)</span><span data-if="dotnet" style="display:none"> (<i>int</i> / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>Hlong</i>)</span><span data-if="c" style="display:none"> (<i>Hlong</i>)</span></span>
</div>
<p class="pardesc">Seed for the random number generator.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>0</p>
</div>
  <div class="par">
<div class="parhead">
<span id="EMatrix" class="parname"><b><code><span data-if="hdevelop" style="display:inline">EMatrix</span><span data-if="c" style="display:none">EMatrix</span><span data-if="cpp" style="display:none">EMatrix</span><span data-if="com" style="display:none">EMatrix</span><span data-if="dotnet" style="display:none">EMatrix</span><span data-if="python" style="display:none">ematrix</span></code></b> (output_control)  </span><span>hom_mat2d <code>→</code> <span data-if="dotnet" style="display:none"><a href="HHomMat2D.html">HHomMat2D</a>, </span><span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[float]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real)</span><span data-if="dotnet" style="display:none"> (<i>double</i>)</span><span data-if="cpp" style="display:none"> (<i>double</i>)</span><span data-if="c" style="display:none"> (<i>double</i>)</span></span>
</div>
<p class="pardesc">Computed essential matrix.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="CovEMat" class="parname"><b><code><span data-if="hdevelop" style="display:inline">CovEMat</span><span data-if="c" style="display:none">CovEMat</span><span data-if="cpp" style="display:none">CovEMat</span><span data-if="com" style="display:none">CovEMat</span><span data-if="dotnet" style="display:none">covEMat</span><span data-if="python" style="display:none">cov_emat</span></code></b> (output_control)  </span><span>real-array <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[float]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real)</span><span data-if="dotnet" style="display:none"> (<i>double</i>)</span><span data-if="cpp" style="display:none"> (<i>double</i>)</span><span data-if="c" style="display:none"> (<i>double</i>)</span></span>
</div>
<p class="pardesc">9x9 covariance matrix of the
essential matrix.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="Error" class="parname"><b><code><span data-if="hdevelop" style="display:inline">Error</span><span data-if="c" style="display:none">Error</span><span data-if="cpp" style="display:none">Error</span><span data-if="com" style="display:none">Error</span><span data-if="dotnet" style="display:none">error</span><span data-if="python" style="display:none">error</span></code></b> (output_control)  </span><span>real(-array) <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[float]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real)</span><span data-if="dotnet" style="display:none"> (<i>double</i>)</span><span data-if="cpp" style="display:none"> (<i>double</i>)</span><span data-if="c" style="display:none"> (<i>double</i>)</span></span>
</div>
<p class="pardesc">Root-Mean-Square of the epipolar distance error.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="Points1" class="parname"><b><code><span data-if="hdevelop" style="display:inline">Points1</span><span data-if="c" style="display:none">Points1</span><span data-if="cpp" style="display:none">Points1</span><span data-if="com" style="display:none">Points1</span><span data-if="dotnet" style="display:none">points1</span><span data-if="python" style="display:none">points_1</span></code></b> (output_control)  </span><span>integer-array <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[int]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (integer)</span><span data-if="dotnet" style="display:none"> (<i>int</i> / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>Hlong</i>)</span><span data-if="c" style="display:none"> (<i>Hlong</i>)</span></span>
</div>
<p class="pardesc">Indices of matched input points in image 1.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="Points2" class="parname"><b><code><span data-if="hdevelop" style="display:inline">Points2</span><span data-if="c" style="display:none">Points2</span><span data-if="cpp" style="display:none">Points2</span><span data-if="com" style="display:none">Points2</span><span data-if="dotnet" style="display:none">points2</span><span data-if="python" style="display:none">points_2</span></code></b> (output_control)  </span><span>integer-array <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[int]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (integer)</span><span data-if="dotnet" style="display:none"> (<i>int</i> / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>Hlong</i>)</span><span data-if="c" style="display:none"> (<i>Hlong</i>)</span></span>
</div>
<p class="pardesc">Indices of matched input points in image 2.</p>
</div>
<h2 id="sec_predecessors">可能的前置算子</h2>
<p>
<code><a href="points_foerstner.html"><span data-if="hdevelop" style="display:inline">points_foerstner</span><span data-if="c" style="display:none">points_foerstner</span><span data-if="cpp" style="display:none">PointsFoerstner</span><span data-if="com" style="display:none">PointsFoerstner</span><span data-if="dotnet" style="display:none">PointsFoerstner</span><span data-if="python" style="display:none">points_foerstner</span></a></code>, 
<code><a href="points_harris.html"><span data-if="hdevelop" style="display:inline">points_harris</span><span data-if="c" style="display:none">points_harris</span><span data-if="cpp" style="display:none">PointsHarris</span><span data-if="com" style="display:none">PointsHarris</span><span data-if="dotnet" style="display:none">PointsHarris</span><span data-if="python" style="display:none">points_harris</span></a></code>
</p>
<h2 id="sec_successors">可能的后置算子</h2>
<p>
<code><a href="vector_to_essential_matrix.html"><span data-if="hdevelop" style="display:inline">vector_to_essential_matrix</span><span data-if="c" style="display:none">vector_to_essential_matrix</span><span data-if="cpp" style="display:none">VectorToEssentialMatrix</span><span data-if="com" style="display:none">VectorToEssentialMatrix</span><span data-if="dotnet" style="display:none">VectorToEssentialMatrix</span><span data-if="python" style="display:none">vector_to_essential_matrix</span></a></code>
</p>
<h2 id="sec_see">参考其它</h2>
<p>
<code><a href="match_fundamental_matrix_ransac.html"><span data-if="hdevelop" style="display:inline">match_fundamental_matrix_ransac</span><span data-if="c" style="display:none">match_fundamental_matrix_ransac</span><span data-if="cpp" style="display:none">MatchFundamentalMatrixRansac</span><span data-if="com" style="display:none">MatchFundamentalMatrixRansac</span><span data-if="dotnet" style="display:none">MatchFundamentalMatrixRansac</span><span data-if="python" style="display:none">match_fundamental_matrix_ransac</span></a></code>, 
<code><a href="match_rel_pose_ransac.html"><span data-if="hdevelop" style="display:inline">match_rel_pose_ransac</span><span data-if="c" style="display:none">match_rel_pose_ransac</span><span data-if="cpp" style="display:none">MatchRelPoseRansac</span><span data-if="com" style="display:none">MatchRelPoseRansac</span><span data-if="dotnet" style="display:none">MatchRelPoseRansac</span><span data-if="python" style="display:none">match_rel_pose_ransac</span></a></code>, 
<code><a href="stationary_camera_self_calibration.html"><span data-if="hdevelop" style="display:inline">stationary_camera_self_calibration</span><span data-if="c" style="display:none">stationary_camera_self_calibration</span><span data-if="cpp" style="display:none">StationaryCameraSelfCalibration</span><span data-if="com" style="display:none">StationaryCameraSelfCalibration</span><span data-if="dotnet" style="display:none">StationaryCameraSelfCalibration</span><span data-if="python" style="display:none">stationary_camera_self_calibration</span></a></code>
</p>
<h2 id="sec_references">References</h2>
<p>

Richard Hartley, Andrew Zisserman: “Multiple View Geometry in
Computer Vision”; Cambridge University Press, Cambridge; 2003.
<br>
Olivier Faugeras, Quang-Tuan Luong: “The Geometry of Multiple
Images: The Laws That Govern the Formation of Multiple Images of a
Scene and Some of Their Applications”; MIT Press, Cambridge, MA;
2001.
</p>
<h2 id="sec_module">模块</h2>
<p>
3D Metrology</p>
<!--OP_REF_FOOTER_START-->
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